CN109129551A - A kind of robot clamp with the tight device of spring self-lock - Google Patents
A kind of robot clamp with the tight device of spring self-lock Download PDFInfo
- Publication number
- CN109129551A CN109129551A CN201811308303.4A CN201811308303A CN109129551A CN 109129551 A CN109129551 A CN 109129551A CN 201811308303 A CN201811308303 A CN 201811308303A CN 109129551 A CN109129551 A CN 109129551A
- Authority
- CN
- China
- Prior art keywords
- spring
- arm
- lock
- robot clamp
- tight device
- 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.)
- Withdrawn
Links
- 238000001514 detection method Methods 0.000 claims description 14
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000005299 abrasion Methods 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 abstract description 2
- 239000000203 mixture Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
Abstract
A kind of robot clamp with the tight device of spring self-lock, it is related to robot clamp technical field.The present invention solves existing robot clamp there are costs big, and retaining mechanism locking plate is also easy to produce abrasion, deformation, cause capacity utilization to reduce, maintenance cost increase the problem of.Linking arm of the invention is vertically arranged, lever arm and fixed arm are from top to bottom successively vertically set on the side of linking arm, cylinder is vertically arranged between lever arm and fixed arm, the piston rod of cylinder is connect with lever arm, two groups of tight devices of spring self-lock are vertically arranged in the two sides of cylinder, the top of the tight device of spring self-lock and the lower end surface of lever arm connect, and are mounted on linking arm to position detecting mechanism.Clamping of the present invention for workpiece in deburring machine and cleaning machine equipment.
Description
Technical field
The present invention relates to robot clamp technical fields, press from both sides more particularly to a kind of robot with the tight device of spring self-lock
Tool.
Background technique
Existing robot clamp cylinder selects the particular cylinders of band edge lock, after clamp workpiece locking cylinder is died
Realize fixture locking, this fixture design cost early period is big, locking cylinder in use for some time, due to retaining mechanism locking plate
Abrasion and deformation, cause robot clamp to can not be successfully open frequency and increase, and layman can not be to cylinder
Type repairs, and the maintenance cost of equipment accordingly increases.
In conclusion that there are costs is big for existing robot clamp, retaining mechanism locking plate is also easy to produce abrasion, deformation, causes
The problem of capacity utilization reduces, maintenance cost increases.
Summary of the invention
The purpose of the present invention is to solve existing robot clamp, that there are costs is big, and retaining mechanism locking plate is also easy to produce mill
The problem of damage deforms, and leads to capacity utilization reduction, maintenance cost increase, and then provide a kind of with the tight device of spring self-lock
Robot clamp.
The technical scheme is that
A kind of robot clamp with the tight device of spring self-lock, it includes linking arm, lever arm, fixed arm, cylinder, arrives
Position detecting mechanism and two groups of tight devices of spring self-lock, linking arm are vertically arranged, and lever arm and fixed arm are successively vertical from top to bottom
The side of linking arm is set, cylinder is vertically arranged between lever arm and fixed arm, and the piston rod of cylinder is connect with lever arm,
Two groups of tight devices of spring self-lock are vertically arranged in the two sides of cylinder, and the lower part of the tight device of spring self-lock and the upper surface of fixed arm are solid
It connects, the top of the tight device of spring self-lock and the lower end surface of lever arm connect, and are mounted on linking arm to position detecting mechanism.
Further, every group of tight device of spring self-lock includes spring pull rod, compressed spring and oilless bearing, and spring pull rod is perpendicular
Straight to be arranged between lever arm and fixed arm, the middle part of linking arm is equipped with the fixing end stretched out to the tight device side of spring self-lock,
The fixing end is equipped with the tie rod hole that matches with spring pull rod, the upper end of spring pull rod pass through the tie rod hole of fixing end and with
Lever arm connection, is equipped with oilless bearing between spring pull rod and fixing end, the bottom of spring pull rod is equipped with boss, on spring pull rod
It is arranged compressed spring, the lower end of compressed spring and the boss of spring pull rod offset, the upper end of compressed spring and the fixation of linking arm
End offsets.
Further, the robot clamp further includes guidance set, and guidance set is mounted on the side wall of linking arm, living
Swing arm is slidably connected by guidance set and linking arm.
Further, the guidance set includes guide rail slide block, guide rail and guide rail protection cover, and the side of guide rail is vertically-mounted
On the side wall of linking arm, the other side of guide rail slide block and guide rail is slidably matched, and lever arm is connect with guide rail slide block, guide rail slide block
Guide rail protection cover is equipped with the outside of guide rail.
Further, it is described to position detecting mechanism include first close to switch, the second detection switch, third detection switch and
Switchboard, switchboard are vertically installed on the side wall of linking arm, the first close switch, the second detection switch, third detection switch
From top to bottom it is successively set on switchboard.
Further, the robot clamp further includes several positioning pins, and several positioning pins are installed in the upper of fixed arm
On end face.
Further, the robot clamp further includes several locating pieces, and several locating pieces are installed in the upper of fixed arm
On end face.
Further, the robot clamp further includes several briquettings, and several briquettings are installed in the lower end surface of lever arm
On.
Further, the robot clamp further includes mounting disc, and mounting disc is mounted on the other side of linking arm, the peace
Multiple mounting holes are opened up in sabot in a manner of annular array.
Further, the robot clamp further includes two compressed spring shields, every group of tight device of spring self-lock it is outer
Portion is equipped with a compressed spring shield.
The present invention has the effect that compared with prior art
1, a kind of robot clamp with the tight device of spring self-lock of the present invention, by lever arm and fixed arm it
Between the tight device of spring self-lock, realize the clamping to workpiece, guarantee state of the workpiece on robot clamp.Use common gas
The fixture lock mode of cylinder simplifies the clamp system of robot clamp, reduces design and maintenance cost, improves equipment
Utilization rate improves the reliability and stability of robot clamp.
2, a kind of robot clamp with the tight device of spring self-lock of the present invention, can apply deburring machine,
And in cleaning machine equipment, the clamping of workpiece is realized by the structure after optimization, effectively reduces design cost, while also mentioning
The high maintainability of equipment, reduces the maintenance cost of equipment.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the bottom view of Fig. 1；
Fig. 4 is the left view of Fig. 1；
Fig. 5 is the right view of Fig. 1；
Fig. 6 is the rearview of Fig. 1；
Fig. 7 is the A direction view of Fig. 2；
Fig. 8 is cross-sectional view of the Fig. 2 at B-B.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, present embodiment in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 6, Fig. 7 and Fig. 8
A kind of robot clamp with the tight device of spring self-lock, it includes linking arm 1, lever arm 2, fixed arm 3, cylinder 4, in place
Testing agency and two groups of tight devices of spring self-lock, linking arm 1 are vertically arranged, and lever arm 2 and fixed arm 3 are successively vertical from top to bottom
The side of linking arm 1 is set, and cylinder 4 is vertically arranged between lever arm 2 and fixed arm 3, the piston rod and lever arm of cylinder 4
2 connections, two groups of tight devices of spring self-lock are vertically arranged in the two sides of cylinder 4, lower part and the fixed arm 3 of the tight device of spring self-lock
Upper surface is affixed, and the top of the tight device of spring self-lock is connect with the lower end surface of lever arm 2, is mounted on linking arm to position detecting mechanism
On 1.
Specific embodiment 2: illustrating present embodiment in conjunction with Fig. 5, Fig. 7 and Fig. 8, every group of spring of present embodiment is certainly
Locking device includes spring pull rod 5, compressed spring 6 and oilless bearing 7, and spring pull rod 5 is vertically arranged in lever arm 2 and fixed arm
Between 3, the middle part of linking arm 1 is equipped on the fixing end 1-1, the fixing end 1-1 stretched out to the tight device side of spring self-lock and sets
There is the tie rod hole to match with spring pull rod 5, the upper end of spring pull rod 5 passes through the tie rod hole of fixing end 1-1 and connects with lever arm 2
It connects, oilless bearing 7 is equipped between spring pull rod 5 and fixing end 1-1, the bottom of spring pull rod 5 is equipped with boss 5-1, spring pull rod 5
On be arranged compressed spring 6, the lower end of compressed spring 6 offsets with the boss 5-1 of spring pull rod 5, the upper end of compressed spring 6 and connection
The fixing end 1-1 of arm 1 offsets.So set, cylinder 4 drives lever arm 2 to move upwards when robot clamp is opened, press simultaneously
After contracting spring 6 overcomes camber of spring, robot clamp to be opened to position detecting mechanism, robot clamp can carry out grabbing for workpiece
It takes, cylinder 4 cannot stop supplying in this state；When robot clamp is closed, cylinder 4 drives lever arm 2 to move downward, and compresses
Spring 6 restores deformation special operations arm 2 and moves downward, and has stable signal in place defeated to position detecting mechanism when robot clamp
When out, cylinder 4 stops gas supply, by the tight device of spring self-lock of the gas circuit interlock valve and two sides of cylinder 4, presss from both sides to workpiece
The tight state for guaranteeing workpiece on robot clamp.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 3: illustrating present embodiment, the robot of present embodiment in conjunction with Fig. 1, Fig. 3 and Fig. 7
Fixture further includes guidance set, and guidance set is mounted on the side wall of linking arm 1, and lever arm 2 passes through guidance set and linking arm 1
It is slidably connected.So set, guidance set improves the reliability and stability that lever arm 2 moves under the effect of cylinder 4.Other compositions
It is the same as one or two specific embodiments with connection relationship.
Specific embodiment 4: illustrating present embodiment, the guiding group of present embodiment in conjunction with Fig. 1, Fig. 3 and Fig. 7
Part includes guide rail slide block 8, guide rail 9 and guide rail protection cover 10, and the side of guide rail 9 is vertically installed on the side wall of linking arm 1, guide rail
Sliding block 8 and the other side of guide rail 9 are slidably matched, and lever arm 2 is connect with guide rail slide block 8, and guide rail slide block 8 and the outside of guide rail 9 are set
There is guide rail protection cover 10.So set, lever arm 2 passes through guide rail slide block 8 when cylinder 4 drives lever arm 2 to be moved upwardly or downwardly
It is slidably connected with guide rail 9, ensure that the stationarity of lever arm 2, improve the precision of robot clamp.Other compositions and connection are closed
It is identical as specific embodiment one, two or three.
Specific embodiment 5: embodiment is described with reference to Fig.7, the described of present embodiment includes to position detecting mechanism
First is vertically installed at connection close to switch 11, the second detection switch 12, third detection switch 13 and switchboard 14, switchboard 14
On the side wall of arm 1, first is from top to bottom successively set on out close to switch 11, the second detection switch 12, third detection switch 13
It closes on plate 14.So set, first is used to control the largest motion distance of lever arm 2 close to switch 11；Second detection switch 12
The clamping of large-size workpiece is adapted to for controlling lever arm 2；Third detection switch 13 adapts to small size work for controlling lever arm 2
The clamping of part.Other compositions and connection relationship and specific embodiment one, two, three or four are identical.
Specific embodiment 6: illustrating present embodiment, the robot clamp of present embodiment in conjunction with Fig. 2 and Fig. 8
It further include several positioning pins 15, several positioning pins 15 are installed on the upper surface of fixed arm 3.So set, passing through fixed arm 3
On positioning pin 15 workpiece is accurately positioned.Other compositions and connection relationship and specific embodiment one, two, three, four or
Five is identical.
Specific embodiment 7: illustrating present embodiment, the robot clamp of present embodiment in conjunction with Fig. 2 and Fig. 8
It further include several locating pieces 16, several locating pieces 16 are installed on the upper surface of fixed arm 3.So set, passing through fixed arm 3
On locating piece 16 workpiece is accurately positioned.Other compositions and connection relationship and specific embodiment one, two, three, four, five
Or six is identical.
Specific embodiment 8: illustrating present embodiment, the machine of present embodiment in conjunction with Fig. 1, Fig. 6, Fig. 7 and Fig. 8
Device people's fixture further includes several briquettings 17, and several briquettings 17 are installed on the lower end surface of lever arm 2.So set, passing through work
Briquetting 17 on swing arm 2 compresses workpiece.Other compositions and connection relationship and specific embodiment one, two, three, four, five,
Six or seven is identical.
Specific embodiment 9: embodiment is described with reference to Fig. 4, the robot clamp of present embodiment further includes
Mounting disc 18, mounting disc 18 are mounted on the other side of linking arm 1, are opened up in a manner of annular array in the mounting disc 18 multiple
Mounting hole.So set, it is tight to be easy to implement robot clamp spring self-lock by installing mounting disc 18 in 1 other side of linking arm
Connection between device and robot.Other compositions and connection relationship and specific embodiment one, two, three, four, five, six, seven or
Eight is identical.
Specific embodiment 10: embodiment is described with reference to Fig. 1, the robot clamp of present embodiment further includes
The outside of two compressed spring shields 19, every group of tight device of spring self-lock is equipped with a compressed spring shield 19.So set, pressure
Contracting spring shield 19 plays the role of protection to the tight device of spring self-lock, improves the service life of the present apparatus.It is other composition and
Connection relationship and specific embodiment one, two, three, four, five, six, seven, eight or nine are identical.
Working principle
Illustrate the working principle of the invention in conjunction with Fig. 1 to Fig. 8:
Workpiece is grabbed by a kind of robot clamp with the tight device of spring self-lock of the present invention, passes through fixation
Workpiece is accurately positioned in positioning pin 15 and locating piece 16 on arm 3, and cylinder 4 drives lever arm 2 to be moved, and passes through work
Briquetting 17 on swing arm 2 compresses workpiece.
When robot clamp is opened, lever arm 2 is driven to move upwards by cylinder 4, while compressed spring 6 overcomes spring to become
Shape, after robot clamp is opened to position detecting mechanism, robot clamp can carry out the crawl of workpiece, and cylinder 4 is in this state
It cannot stop supplying.
When robot clamp is closed, lever arm 2 is driven to move downward by cylinder 4, compressed spring 6 restores deformation special operations
Arm 2 moves downward, and when robot clamp is when having the stable output of signal in place to position detecting mechanism, cylinder 4 stops gas supply, leads to
The tight device of spring self-lock for crossing the gas circuit interlock valve and two sides of cylinder 4 is clamped workpiece and guarantees that workpiece is pressed from both sides in robot
State on tool.
Claims (10)
1. a kind of robot clamp with the tight device of spring self-lock, it is characterised in that: it includes linking arm (1), lever arm
(2), fixed arm (3), cylinder (4), be vertically arranged to position detecting mechanism and two groups of tight devices of spring self-lock, linking arm (1), activity
Arm (2) and fixed arm (3) are from top to bottom successively vertically set on the side of linking arm (1), and cylinder (4) is vertically arranged in lever arm
(2) between fixed arm (3), the piston rod of cylinder (4) is connect with lever arm (2), and two groups of tight devices of spring self-lock are vertically arranged
In the two sides of cylinder (4), the top of the tight device of spring self-lock is connect with the lower end surface of lever arm (2), is installed to position detecting mechanism
On linking arm (1).
2. a kind of robot clamp with the tight device of spring self-lock according to claim 1, it is characterised in that: every group of bullet
Spring self-locking device includes spring pull rod (5), compressed spring (6) and oilless bearing (7), and spring pull rod (5) is vertically arranged in work
Between swing arm (2) and fixed arm (3), the middle part of linking arm (1) is equipped with the fixing end (1- stretched out to the tight device side of spring self-lock
1), the fixing end (1-1) is equipped with the tie rod hole to match with spring pull rod (5), and the upper end of spring pull rod (5), which passes through, to be fixed
It holds the tie rod hole of (1-1) and is connect with lever arm (2), be equipped with oilless bearing (7) between spring pull rod (5) and fixing end (1-1),
The bottom of spring pull rod (5) is equipped with boss (5-1), is arranged compressed spring (6) on spring pull rod (5), the lower end of compressed spring (6)
It offsets with the boss (5-1) of spring pull rod (5), the upper end of compressed spring (6) offsets with the fixing end (1-1) of linking arm (1).
3. a kind of robot clamp with the tight device of spring self-lock according to claim 1 or 2, it is characterised in that: institute
Stating robot clamp further includes guidance set, and guidance set is mounted on the side wall of linking arm (1), and lever arm (2) passes through guiding
Component is slidably connected with linking arm (1).
4. a kind of robot clamp with the tight device of spring self-lock according to claim 3, it is characterised in that: described to lead
It include guide rail slide block (8), guide rail (9) and guide rail protection cover (10) to component, the side of guide rail (9) is vertically installed at linking arm
(1) on side wall, guide rail slide block (8) and the other side of guide rail (9) are slidably matched, and lever arm (2) is connect with guide rail slide block (8),
The outside of guide rail slide block (8) and guide rail (9) is equipped with guide rail protection cover (10).
5. a kind of robot clamp with the tight device of spring self-lock according to claim 1 or 4, it is characterised in that: institute
Stating position detecting mechanism includes the first close switch (11), the second detection switch (12), third detection switch (13) and switchboard
(14), switchboard (14) is vertically installed on the side wall of linking arm (1), first close to switch (11), the second detection switch (12),
Third detection switch (13) is from top to bottom successively set on switchboard (14).
6. a kind of robot clamp with the tight device of spring self-lock according to claim 5, it is characterised in that: the machine
Device people's fixture further includes several positioning pins (15), and several positioning pins (15) are installed on the upper surface of fixed arm (3).
7. a kind of robot clamp with the tight device of spring self-lock according to claim 6, it is characterised in that: the machine
Device people's fixture further includes several locating pieces (16), and several locating pieces (16) are installed on the upper surface of fixed arm (3).
8. a kind of robot clamp with the tight device of spring self-lock according to claim 7, it is characterised in that: the machine
Device people's fixture further includes several briquettings (17), and several briquettings (17) are installed on the lower end surface of lever arm (2).
9. a kind of robot clamp with the tight device of spring self-lock according to claim 8, it is characterised in that: the machine
Device people's fixture further includes mounting disc (18), and mounting disc (18) is mounted on the other side of linking arm (1), on the mounting disc (18) with
The mode of annular array opens up multiple mounting holes.
10. a kind of according to claim 1, robot clamp with the tight device of spring self-lock described in 2,4,6,7,8 or 9,
Be characterized in that: the robot clamp further includes two compressed spring shields (19), and the outside of every group of tight device of spring self-lock is set
There is a compressed spring shield (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811308303.4A CN109129551A (en) | 2018-11-05 | 2018-11-05 | A kind of robot clamp with the tight device of spring self-lock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811308303.4A CN109129551A (en) | 2018-11-05 | 2018-11-05 | A kind of robot clamp with the tight device of spring self-lock |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109129551A true CN109129551A (en) | 2019-01-04 |
Family
ID=64807817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811308303.4A Withdrawn CN109129551A (en) | 2018-11-05 | 2018-11-05 | A kind of robot clamp with the tight device of spring self-lock |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129551A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040232608A1 (en) * | 2003-05-23 | 2004-11-25 | Harry Wong | Quick release cantilever clamp |
| CN202155887U (en) * | 2011-06-15 | 2012-03-07 | 广州市傲派自动化设备有限公司 | Intelligentized robot tong clamp |
| CN102430905A (en) * | 2011-08-26 | 2012-05-02 | 北京理工大学 | Automatic clamping device and method for reel |
| CN104908912A (en) * | 2015-06-11 | 2015-09-16 | 哈尔滨工程大学 | Underwater robot locking mechanism |
| CN205497497U (en) * | 2016-04-08 | 2016-08-24 | 广州协鸿工业机器人技术有限公司 | Robot that is applied to engine asseumbly production line holds in hand |
| CN206200999U (en) * | 2016-11-11 | 2017-05-31 | 武汉新芯集成电路制造有限公司 | A kind of mechanical arm |
| CN107471242A (en) * | 2017-09-26 | 2017-12-15 | 苏州科技大学 | Robot self-locking handgrip mechanism |
| CN107696026A (en) * | 2017-09-18 | 2018-02-16 | 东莞理工学院 | A kind of servo hydraulic control system of passive self-locking |
| CN207077459U (en) * | 2017-08-16 | 2018-03-09 | 哈尔滨岛田大鹏工业股份有限公司 | Robot washer clamp cylinder vertical self-locked fixture |
| CN208914153U (en) * | 2018-11-05 | 2019-05-31 | 哈尔滨岛田大鹏工业股份有限公司 | A kind of robot clamp with the tight device of spring self-lock |
-
2018
- 2018-11-05 CN CN201811308303.4A patent/CN109129551A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040232608A1 (en) * | 2003-05-23 | 2004-11-25 | Harry Wong | Quick release cantilever clamp |
| CN202155887U (en) * | 2011-06-15 | 2012-03-07 | 广州市傲派自动化设备有限公司 | Intelligentized robot tong clamp |
| CN102430905A (en) * | 2011-08-26 | 2012-05-02 | 北京理工大学 | Automatic clamping device and method for reel |
| CN104908912A (en) * | 2015-06-11 | 2015-09-16 | 哈尔滨工程大学 | Underwater robot locking mechanism |
| CN205497497U (en) * | 2016-04-08 | 2016-08-24 | 广州协鸿工业机器人技术有限公司 | Robot that is applied to engine asseumbly production line holds in hand |
| CN206200999U (en) * | 2016-11-11 | 2017-05-31 | 武汉新芯集成电路制造有限公司 | A kind of mechanical arm |
| CN207077459U (en) * | 2017-08-16 | 2018-03-09 | 哈尔滨岛田大鹏工业股份有限公司 | Robot washer clamp cylinder vertical self-locked fixture |
| CN107696026A (en) * | 2017-09-18 | 2018-02-16 | 东莞理工学院 | A kind of servo hydraulic control system of passive self-locking |
| CN107471242A (en) * | 2017-09-26 | 2017-12-15 | 苏州科技大学 | Robot self-locking handgrip mechanism |
| CN208914153U (en) * | 2018-11-05 | 2019-05-31 | 哈尔滨岛田大鹏工业股份有限公司 | A kind of robot clamp with the tight device of spring self-lock |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190104 |
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| WW01 | Invention patent application withdrawn after publication |